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sensors: sensor_preflight_imu -> sensors_status_imu and run continuously

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- inconsistency checks now run continuously instead of only preflight
 - keep inconsistencies for all sensors
 - add per sensor data validator state as overall health flag
This commit is contained in:
Daniel Agar
2020-09-06 22:06:13 -04:00
committed by GitHub
parent d4ecf24bf2
commit 60d613ea04
12 changed files with 165 additions and 204 deletions
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msg/sensors_status_imu.msg
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#
# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
#
uint64 timestamp # time since system start (microseconds)
uint32 accel_device_id_primary # current primary accel device id for reference
uint32[3] accel_device_ids
float32[3] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and primary in (m/s/s).
bool[3] accel_healthy
uint32 gyro_device_id_primary # current primary gyro device id for reference
uint32[3] gyro_device_ids
float32[3] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and primary in (rad/s).
bool[3] gyro_healthy